JP2018527669A - Method, apparatus and unmanned aerial vehicle for terrain following flight of unmanned aerial vehicles - Google Patents

Abstract

Embodiments of the present invention relate to a method, apparatus, and unmanned aerial vehicle for terrain following flight of an unmanned aerial vehicle. The method obtains a vertical distance between the unmanned aircraft and the ground, obtains an oblique distance between the unmanned aircraft and the ground, and obtains a depression angle between the vertical distance and the oblique distance. And adjusting the state of terrain following flight of the unmanned aerial vehicle based on the depression angle, the vertical distance, and the oblique distance. According to the unmanned aerial vehicle to which the embodiment of the present invention is applied, the unmanned aircraft can be controlled to perform different flight operations at different oblique distances from the ground, whereby the unmanned aerial vehicle can be controlled in the mountains, hills, terraced fields. Can realize terrain-following flight in various environments such as plains, high-stem plants, etc., improving the working efficiency of unmanned aircraft and the ability to adapt to the environment of unmanned aircraft, and the reliability and safety of unmanned aircraft To increase.

Description

  The present invention relates to the technical field of unmanned aerial vehicles, and more particularly to a method for terrain following flight of an unmanned aerial vehicle, an apparatus for terrain following flight of an unmanned aerial vehicle, and an unmanned aerial vehicle.

  An unmanned aerial vehicle is simply called an unmanned aerial vehicle and can handle tasks such as aerial photography or reconnaissance. In terms of protecting agricultural plants, unmanned aerial vehicles have a significant advantage over other agricultural aircraft and have been widely applied in recent years. However, in practical applications, unmanned aerial vehicles have a pressing problem.

  Taking pesticide spraying as an example, the spraying effect is determined by the distance between the unmanned aerial vehicle and the plant, and if the unmanned aircraft is too far from the plant, it is difficult to evenly spray the sprayed drug on the plant surface. Yes, if the unmanned aerial vehicle is too far from the plant, the efficiency of the unmanned aerial vehicle is impaired. From the viewpoint of safety, if the distance between the unmanned aircraft and the plant is too low, the flight safety factor is also low. For this reason, in order to improve the spraying effect of the unmanned aircraft and the working efficiency of the unmanned aircraft, and to improve the flight safety of the unmanned aircraft, the unmanned aircraft must keep a certain distance from the plant during the work.

  Embodiments of the present invention have been made in view of the above problems, and a method for unmanned aerial terrain following flight that solves the above problem or at least a part thereof, and a corresponding unmanned aerial terrain following flight apparatus. As well as unmanned aerial vehicles.

In order to solve the above problem, in an embodiment of the present invention, a method for terrain following flight of an unmanned aerial vehicle, comprising:
Obtaining the vertical distance between the unmanned aircraft and the ground;
Obtaining an oblique distance between the unmanned aerial vehicle and the ground;
Obtaining a depression angle between the vertical distance and the oblique distance;
Adjusting the state of terrain following flight of the unmanned aerial vehicle based on the depression angle, the vertical distance, and the oblique distance.

Based on the depression angle, the vertical distance and the oblique distance, the step of adjusting the terrain following flight state of the unmanned aircraft,
Calculating one or more determination data using the depression angle and the vertical distance;
Configuring one or more determination data ranges by the one or more determination data;
Adjusting the state of the terrain following flight of the unmanned aircraft based on the determination data range to which the oblique distance belongs.

The determination data range includes a first determination data range, and based on the determination data range to which the oblique distance belongs, adjusting the state of terrain following flight of the unmanned aircraft includes:
If the oblique distance is in the first determination data range, the speed of the land-following flight of the unmanned aircraft may be maintained, and the height of the land-following flight of the unmanned aircraft may be adjusted according to the vertical distance. Good.

The determination data range includes a second determination data range, and the step of adjusting the terrain following flight state of the unmanned aircraft based on the determination data range to which the oblique distance belongs,
If the oblique distance is always within the second determination data range within the first designated time, reducing the speed of the unmanned aircraft's terrain following flight and increasing the height of the unmanned aircraft's terrain following flight;
After the oblique distance is in the second determination data range within a second specified time that is smaller than the first specified time, and within the second determination data range to the first determination data range If it is switched to, the speed of the terrain following flight of the unmanned aircraft may be maintained, and the height of the terrain following flight of the unmanned aircraft may be adjusted according to the vertical distance.

The determination data range includes a third determination data range, and based on the determination data range to which the oblique distance belongs, adjusting the state of the terrain following flight of the unmanned aircraft,
If the oblique distance is in the third determination data range, the unmanned aircraft is stopped in the air, and the height of the terrain following flight of the unmanned aircraft is increased.
If the oblique distance is switched from the one in the third determination data range to the one in the second determination data range, the speed of the terrain following flight of the unmanned aircraft is recovered and the vertical distance is Controlling the height of the terrain following flight of the unmanned aerial vehicle.

The determination data range includes a fourth determination data range, and based on the determination data range to which the oblique distance belongs, adjusting the terrain following flight state of the unmanned aircraft includes:
If the oblique distance is always within the fourth determination data range within the third designated time, the speed of the terrain following flight of the unmanned aircraft is reduced, and the height of the terrain following flight of the unmanned aircraft is decreased;
After the oblique distance is in the fourth determination data range within a fourth specified time that is smaller than the third specified time, and within the fourth determination data range to the first determination data range If it is switched to, the speed of the terrain following flight of the unmanned aircraft may be maintained, and the height of the terrain following flight of the unmanned aircraft may be adjusted according to the vertical distance.

The determination data range includes a fifth determination data range, and based on the determination data range to which the oblique distance belongs, adjusting the state of the terrain following flight of the unmanned aircraft includes:
If the oblique distance is in the fifth determination data range, the unmanned aircraft may be suspended in the air or the unmanned aircraft may be turned back.

In an embodiment of the present invention, an apparatus for terrain following flight of an unmanned aerial vehicle, comprising:
A vertical distance acquisition module configured to acquire a vertical distance between the unmanned aircraft and the ground;
An oblique distance acquisition module configured to acquire an oblique distance between the unmanned aerial vehicle and the ground;
An included angle acquisition module configured to acquire an included angle between the vertical distance and the oblique distance;
Further disclosed is an apparatus comprising: a flight condition adjustment module configured to adjust a condition of terrain following flight of the unmanned aircraft based on the depression angle, the vertical distance, and the oblique distance.

The flight condition adjustment module includes:
A determination data calculation sub-module configured to calculate one or more determination data using the depression angle and the vertical distance;
A determination data range configuration sub-module configured to configure one or more determination data ranges with the one or more determination data; and
A flight condition adjustment sub-module configured to adjust the condition of the terrain following flight of the unmanned aircraft based on the determination data range to which the oblique distance belongs.

The determination data range includes a first determination data range, and the flight state adjustment submodule includes:
If the oblique distance is in the first determination data range, the speed of the land-following flight of the unmanned aircraft is maintained, and the height of the land-following flight of the unmanned aircraft is controlled according to the vertical distance. A first flight condition adjustment unit.

The determination data range includes a second determination data range, and the flight state adjustment submodule includes:
If the oblique distance is always within the second determination data range within the first designated time, the speed of the terrain following flight of the unmanned aircraft is reduced and the height of the terrain following flight of the unmanned aircraft is increased. A second flight conditioning unit to be
After the oblique distance is in the second determination data range within a second specified time that is smaller than the first specified time, and within the second determination data range to the first determination data range A third flight condition adjustment unit configured to maintain the speed of the terrain following flight of the unmanned aircraft and to maintain the height of the terrain following flight of the unmanned aircraft. .

The determination data range includes a third determination data range, and the flight state adjustment submodule includes:
A fourth flight condition adjustment unit configured to stop the unmanned aircraft in the air and increase the height of the terrain following flight of the unmanned aircraft if the oblique distance is in a third determination data range;
If the oblique distance is switched from the one in the third determination data range to the one in the second determination data range, the speed of the terrain following flight of the unmanned aircraft is recovered and the vertical distance is A fifth flight conditioning unit configured to control the height of the terrain following flight of the unmanned aerial vehicle.

The determination data range includes a fourth determination data range, and the flight state adjustment submodule includes:
If the oblique distance is always within the fourth determination data range within the third designated time, the speed of the terrain following flight of the unmanned aircraft is reduced and the height of the terrain following flight of the unmanned aircraft is reduced. A sixth flight conditioning unit to be
After the oblique distance is in the fourth determination data range within a fourth specified time that is smaller than the third specified time, and within the fourth determination data range to the first determination data range A seventh flight state adjustment configured to maintain the speed of the terrain following flight of the unmanned aircraft and to adjust the height of the terrain following flight of the unmanned aircraft according to the vertical distance. And a unit.

The determination data range includes a fifth determination data range, and the flight state adjustment submodule includes:
If the oblique distance is in the fifth determination data range, an eighth flight state adjustment unit configured to stop the unmanned aircraft in the air or to turn the unmanned aircraft back may be included.

  In an embodiment of the invention, at least one vertical downward vertical distance sensor configured to measure a vertical distance between an unmanned aerial vehicle and the ground, and to measure an oblique distance between the unmanned aircraft and the ground. There is further disclosed an unmanned aerial vehicle comprising at least one obliquely downward oblique distance sensor configured as described above and an apparatus for terrain following flight of the unmanned aerial vehicle.

  Embodiments of the present invention have the following advantages.

  According to an embodiment of the present invention, during the terrain following flight of an unmanned aerial vehicle, the vertical distance and the oblique distance between the unmanned aircraft and the ground are obtained, and the vertical distance, the oblique distance, and the depression angle between the vertical distance and the oblique distance. To adjust the terrain following flight state of the unmanned aerial vehicle. According to the unmanned aerial vehicle to which the embodiment of the present invention is applied, the unmanned aircraft can be controlled to perform different flight operations at different oblique distances from the ground, whereby the unmanned aerial vehicle can be controlled in the mountains, hills, terraced fields. Can realize terrain-following flight in various environments such as plains, high-stem plants, etc., improving the working efficiency of unmanned aircraft and the ability to adapt to the environment of unmanned aircraft, and the reliability and safety of unmanned aircraft To increase. Embodiments of the present invention are particularly applicable to unmanned aerial vehicles that need to maintain a certain height from the ground, such as plant protection unmanned aerial vehicles, and that are required to adapt to work in various environments.

2 is a flowchart illustrating steps of a first embodiment of a method for land-following flight of an unmanned aerial vehicle according to the present invention. It is a figure which shows the terrain following flight of the unmanned aerial vehicle according to the present invention. 6 is a flowchart illustrating steps of a second embodiment of a method for land-following flight of an unmanned aerial vehicle according to the present invention. It is a figure which shows the scene 2 of the topographical follow-up flight of the unmanned aircraft which concerns on this invention. It is a figure which shows the scene 3 of the topographical follow-up flight of the unmanned aircraft which concerns on this invention. It is a figure which shows the scene 4 of the terrain following flight of the unmanned aircraft which concerns on this invention. It is a figure which shows the scene 5 of the topographical follow-up flight of the unmanned aircraft which concerns on this invention. It is a block diagram which shows the structure of embodiment of the apparatus for the terrain following flight of the unmanned aircraft which concerns on this invention.

  In order to make the above objects, features and advantages of the present invention clearer and easier to understand, the present invention will be described in more detail with reference to the drawings and specific embodiments.

  The unmanned aerial vehicle according to the embodiment of the present invention realizes autonomous terrain-following flight, thereby improving the working efficiency and effect of the unmanned aerial vehicle during work and increasing the work safety factor. The so-called terrain following flight simply means that the flying work height of the unmanned aircraft changes following the undulation fluctuation of the ground, and the unmanned aircraft always keeps the height from the ground constant.

  Using a plant protection unmanned aerial vehicle as an example, the conventional method for working a plant protection unmanned aerial vehicle is to fly at a constant height by GPS (Global Positioning System) or manually at a constant height. Concentrating on the method of flying with a simple vertical terrain-following flight using a single vertical downward sensor, such as a laser sensor, sonar sensor, milli radar or the like. However, these methods only apply to relatively flat places, but are not well adapted to environments such as hills, mountains, terraced fields, or tall stem plants, and of course, hills, mountains, It is not suitable for complex environments combining topography such as terraced fields or plants with high stems.

  Specifically, when flying at a constant height by GPS, only flight operations at a constant ridge height are possible, and unmanned aircraft cannot work following undulations on the ground. Is bad. Further, when flying manually, the working efficiency is low due to the influence of the viewing distance, and it is difficult to spread and apply it on a large scale. Furthermore, the terrain-following flight method at a certain height using a single sensor can only be applied to simple terrain-following flights and cannot determine the ground terrain change state in advance, so the adaptability is poor. Yes.

  In order to solve the above-mentioned problems, a method and an apparatus for terrain following flight of an unmanned aerial vehicle are disclosed in the embodiment of the present invention. Can solve problems such as inferiority, and unmanned aircraft can be adapted to terrain following flight in environments such as mountains, hills, terraced fields, plains, high stem plants, etc. And improve adaptability and increase the safety of unmanned aerial vehicles.

The embodiment of the present invention can be applied to other flying devices except for unmanned aerial vehicles. Hereinafter, embodiments of the present invention will be described in detail.
(First embodiment)
FIG. 1 shows a flowchart of the steps of a first embodiment of the method for terrain following flight of an unmanned aerial vehicle according to the present invention. Specifically, the following steps can be included.

  Step 101: Obtain a vertical distance between an unmanned aerial vehicle and the ground.

  Step 102: Obtain an oblique distance between the unmanned aircraft and the ground.

  Step 103: Obtain a depression angle between the vertical distance and the oblique distance.

  The unmanned aircraft of the embodiment of the present invention can be equipped with a distance sensor, and the distance between the unmanned aircraft and the ground can be measured based on the distance sensor. Specifically, the vertical distance between the unmanned aircraft and the ground and the oblique distance between the unmanned aircraft and the ground can be acquired by the distance sensor.

  In one embodiment of the present application, the unmanned aerial vehicle may be equipped with at least one vertically downward vertical distance sensor and at least one obliquely downward oblique distance sensor.

  The vertical distance sensor obtains a vertical distance between the unmanned aircraft and the ground, and the oblique distance sensor obtains an oblique distance between the unmanned aircraft and the ground.

  In an unmanned aerial vehicle, it is only necessary to normally mount one vertically downward distance sensor (vertical distance sensor), and of course, a plurality of distance sensors may be mounted. On the other hand, a plurality of obliquely downward distance sensors (oblique distance sensors) are usually attached, but of course, one may be attached.

  Note that the slope distance sensor only acquires the slope distance in the traveling direction of the unmanned aircraft, and adjusts the state of the unmanned aircraft's terrain following flight so that the unmanned aircraft can adapt to the terrain following flight in various environments. It is sufficient, that is, it is only necessary to acquire the oblique distance by the oblique distance sensor in the traveling direction of the unmanned aircraft. However, in actual applications, the oblique distance sensor can also obtain oblique distances in other directions except the traveling direction of the unmanned aircraft, and this is also used for adjusting the state of the terrain following flight of the unmanned aircraft. Embodiments of the present invention need not be limited in this regard.

  Assume that oblique distance sensors are mounted in four directions, front, rear, left, and right, respectively, of the unmanned aircraft head with reference to the unmanned aircraft head. The oblique distance acquisition method can be divided into the following two types.

  One implementation is to operate only one oblique distance sensor. Specifically, during unmanned aerial vehicle terrain following flight, if the unmanned aircraft travels in the head direction, it is necessary to acquire the oblique distance with the oblique distance sensor in front of the unmanned aircraft head. It is not necessary to operate the oblique distance sensor. If the advancing direction of the unmanned aircraft changes, for example, if it changes so as to advance toward the left side of the head, it is necessary to acquire the oblique distance with the oblique distance sensor on the left side of the unmanned aircraft head. It is not necessary to operate other oblique distance sensors.

  Another realization method is to operate a plurality of oblique distance sensors simultaneously. Specifically, during the terrain following flight of the unmanned aerial vehicle, the oblique distances by a plurality of oblique distance sensors are acquired. Even if the advancing direction of the unmanned aerial vehicle changes, the oblique distances from the multiple oblique distance sensors are still acquired.

  Of course, as described above, the installation of the oblique distance sensors in the four directions of the front, rear, left and right of the unmanned aircraft head is merely an example, and when the present embodiment is implemented, the oblique distance sensors are installed in other directions. For example, the oblique distance sensor can be mounted in the direction of the left front, right front, left rear, right rear, etc. of the head of the unmanned aircraft, and the embodiment of the present invention is limited thereto. Not. For this reason, in practice, the oblique distance sensor may be mounted in less than four, or may be mounted in more than four, and may be installed according to actual needs. This is not a limitation.

  The depression angle between the vertical distance and the oblique distance can refer to the depression angle at which the distance sensor is attached, that is, the depression angle at which the vertical distance sensor and the oblique distance sensor are attached. Since the position of the distance sensor in the unmanned aircraft can be fixed, the depression angle between the distance sensors can be stored in advance, and may be extracted as necessary. Of course, the depression angle between the vertical distance and the oblique distance can also be obtained by real-time detection, and embodiments of the present invention are not limited thereto.

  Specifically, the distance sensor a is a sensor for terrain following flight of the unmanned aircraft, and measures the height of the terrain following flight of the unmanned aircraft, and the flight controller of the unmanned aircraft determines the vertical height at the distance sensor a. , That is, by obtaining the height of the unmanned aircraft from the ground, the unmanned aircraft is controlled so as to maintain a preset height with respect to the ground. The distance sensor b is a sensor for terrain prediction judgment of the unmanned aircraft, and measures the distance at which the unmanned aircraft is inclined with respect to the ground.

  The distance sensor in the embodiment of the present invention is not limited to only a part of the specified sensors, and the distance acquisition method is not limited, and the device, assembly, or method that can acquire the distance between the unmanned aircraft and the ground And the like should all fall within the protection scope of the embodiments of the present invention.

  Step 104: Adjust the state of terrain following flight of the unmanned aircraft based on the depression angle, the vertical distance, and the oblique distance.

  In the embodiment of the present invention, the state of the terrain following flight of the unmanned aircraft is comprehensively adjusted based on the depression angle, the vertical distance, and the oblique distance, and the unmanned aircraft can fly only at a certain height above sea level as in the past. In contrast, the unmanned aerial vehicle according to the embodiment of the present invention can complete the terrain following flight under various environments, thereby improving the working efficiency and reliability of the unmanned aerial vehicle.

  In an embodiment of the present invention, during the terrain following flight of an unmanned aerial vehicle, the vertical distance and the oblique distance between the unmanned aircraft and the ground are obtained, and the vertical distance, the oblique distance, and the depression angle between the vertical distance and the oblique distance are obtained. Based on the unmanned aircraft, the state of the terrain following flight of the unmanned aircraft is adjusted, and according to the unmanned aircraft to which the embodiment of the present invention is applied, control is performed so that the unmanned aircraft performs different flight operations at different oblique distances from the ground. This allows unmanned aircraft to achieve terrain following flight in various environments such as mountains, hills, terraced fields, plains, high stem plants, etc., and the unmanned aircraft working efficiency and unmanned aircraft environment Improve adaptability and increase the reliability and safety of unmanned aerial vehicles. Embodiments of the present invention are particularly applicable to unmanned aerial vehicles that need to maintain a certain height from the ground, such as unmanned aerial vehicles for plant protection, and that are required to adapt to work in various environments. .

  FIG. 3 shows a flowchart of the steps of a second embodiment of the method for terrain following flight of an unmanned aerial vehicle according to the present invention. Specifically, the following steps can be included.

  Step 201: Obtain a vertical distance between an unmanned aerial vehicle and the ground.

  Step 202: Obtain an oblique distance between the unmanned aircraft and the ground.

  Step 203: Obtain a depression angle between the vertical distance and the oblique distance.

  Since the specific implementation method of step 201 to step 203 in the second embodiment of the method is substantially the same as the specific implementation method of the method first embodiment described above, in this embodiment, step 201 to step For a part that is not described in detail about 203, the related description in the first embodiment can be referred to, and the details are omitted here.

  In a specific implementation, an unmanned aerial vehicle achieves terrain following flight when the ground rises, the unmanned aircraft climbs following the ground, and when the ground is low, the unmanned aircraft follows the ground and descends, The height between the unmanned aircraft and the ground is kept constant, and at the same time the flight speed of the unmanned aircraft may or may not be constant. Means you can. The embodiments of the present invention are not limited to the horizontal flight speed of unmanned aerial vehicles, and can be set according to actual needs, both of which are included in the protection scope of the present invention.

  In some cases, for example, in the case of a field ditch, a small gap between consecutive high stem plants, etc., the unmanned aircraft needs to autonomously determine in advance whether or not it should change following the change in topography. . Adjusting the height of the unmanned aerial vehicle according to only the change in the terrain without making a judgment in advance not only reduces the work efficiency but also causes the unmanned aerial vehicle damage in some terrain. It is because there is a possibility of reducing.

  Therefore, in the embodiment of the present invention, the vertical distance, the oblique distance, and the depression angle between the vertical distance and the oblique distance are combined to adjust the state of the terrain following flight of the unmanned aircraft. The depression angle is generally related to the flight height and speed, and generally, the depression height is also in a certain range because the flight height and speed at the time of agricultural work are in a certain range. This is because if the depression angle is too large, the skew sensor becomes horizontal, and if the depression angle is too small, the skew sensor becomes vertical. Therefore, if the depression angle is usually a constant value and it is necessary to use it, it can be obtained directly without the need for measurement.

  Although the depression angle is usually constant, it may not be constant and can be dynamically adjusted according to the flight environment. If the terrain is flat, the depression angle can be increased, which can increase the predicted distance, and if the terrain is undulating, the depression angle can be decreased. More accurate prediction can be made. This is the same principle as when an automobile turns on the high beam when the road is straight, and when the road situation is complicated, the automobile turns on the low beam.

  The depression angle of the embodiment of the present application may or may not be constant, and when the embodiment of the present application is implemented, the depression angle may be set according to the actual situation. In the embodiment of the present application, the depression angle is constant. There is no need to limit the angle.

  In a preferred embodiment, the specific process for determining whether an unmanned aircraft should change following terrain changes is as shown in steps 204-206.

  Step 204: Calculate one or more determination data using the depression angle and the vertical distance.

  In the embodiment of the present invention, first, one or a plurality of determination data can be calculated based on the vertical distance and the depression angle between the vertical distance and the oblique distance.

  Step 205: One or more determination data ranges are constituted by the one or more determination data.

  In an embodiment of the present invention, one or more determination data ranges are configured as determination criteria for adjusting the flight state of an unmanned aerial vehicle according to a certain rule based on the calculated one or more determination data. .

  Note that the above-described determination data range is only an example, and when the embodiment of the present invention is implemented, the determination data range can be calculated according to the actual situation, and the determination data range can be adjusted. The form is not limited in this respect.

  In addition, some of the judgment requirements described above may be combined into fewer judgment requirements, or may be subdivided into more requirements. Similarly, the judgment requirements may be adjusted according to the actual situation. Good. Embodiments of the present invention are similarly not limited in this regard.

  Step 206: Based on the determination data range to which the oblique distance belongs, the state of the terrain following flight of the unmanned aircraft is adjusted.

  In the embodiment of the present invention, the state of the terrain following flight of the unmanned aircraft is adjusted based on the determination data range to which the oblique distance belongs, and thereby the unmanned aircraft can complete the flight in various environments, Improve the operational efficiency and reliability of unmanned aerial vehicles. Here, adjusting the flight state of the unmanned aerial vehicle can include adjusting the flight height of the unmanned aircraft and adjusting the flight speed of the unmanned aircraft, of course, This includes bringing back an unmanned aerial vehicle.

  During the normal terrain following flight of an unmanned aerial vehicle, the flight speed and flight height of the unmanned aerial vehicle are constant. The unmanned aerial vehicle according to the embodiment of the present invention performs adjustment adapted to the terrain during the terrain following flight.

  In order to allow those skilled in the art to better understand embodiments of the present invention, several scenes for adjusting the state of terrain following flight of an unmanned aerial vehicle will be described based on the above-described several determination data ranges. .

  It should be noted that the several scenes of adjusting the state of the terrain following flight of the unmanned aircraft based on the above-described determination data range to which the oblique distance belongs are merely examples, and are actually used when implementing the embodiment of the present invention. Can be adjusted according to the situation. For example, if the work ground is known to be unable to satisfy some scenes, the scene determination process can be omitted, thereby saving unmanned aircraft determination time. Embodiments of the present invention are not limited in this regard.

  In the embodiment of the present invention, the height of the terrain following flight of the unmanned aircraft is controlled by the vertically downward distance sensor a, and the unmanned aircraft travels by the distance sensor b attached in the traveling direction of one or more unmanned aircraft. By predicting the height situation in the direction and making the unmanned aircraft operate differently at different heights in the traveling direction, the unmanned aircraft will fly in terrain following various load environments such as mountains, hills, terraced fields, plains, etc. Can improve the working efficiency of unmanned aerial vehicles and improve the safety and reliability of unmanned aerial vehicles.

  For ease of explanation, the method embodiment is described as a combination of a series of operations. However, the embodiment of the present invention is not limited to the described operation order. It should be understood by those skilled in the art because some steps can be performed in other orders or simultaneously according to embodiments of the present invention. Next, it should be understood by those skilled in the art that any of the embodiments described in the specification is a preferred embodiment, and the operations mentioned are not necessarily essential to the embodiments of the present invention. It is.

  FIG. 8 is a block diagram showing a configuration of an embodiment of an apparatus for terrain following flight of an unmanned aerial vehicle according to the present invention. Specifically, the following modules can be provided.

  The vertical distance acquisition module 301 is configured to acquire a vertical distance between the unmanned aircraft and the ground.

  The oblique distance acquisition module 302 is configured to acquire an oblique distance between the unmanned aircraft and the ground.

  The depression angle acquisition module 303 is configured to acquire an depression angle between the vertical distance and the oblique distance.

  The flight state adjustment module 304 is configured to adjust the state of terrain following flight of the unmanned aircraft based on the depression angle, vertical distance, and oblique distance.

  In a preferred embodiment of the present invention, the flight condition adjustment module 304 may include the following submodules.

  The determination data calculation submodule is configured to calculate one or more determination data using the depression angle and the vertical distance.

  The determination data range configuration submodule is configured to configure one or more determination data ranges by the one or more determination data.

  The flight state adjustment submodule is configured to adjust the state of terrain following flight of the unmanned aircraft based on the determination data range to which the oblique distance belongs.

  In a preferred embodiment of the present invention, the determination data range may include a first determination data range, and the flight state adjustment submodule may include the following submodules.

  The first flight condition adjustment unit maintains the speed of the terrain following flight of the unmanned aircraft when the oblique distance is in the first determination data range, and also performs the terrain following flight of the unmanned aircraft according to the vertical distance. Configured to control height.

  In a preferred embodiment of the present invention, the determination data range may include a second determination data range, and the flight condition adjustment submodule may include the following submodules.

  The second flight condition adjustment unit reduces the speed of the terrain following flight of the unmanned aircraft and reduces the terrain following of the unmanned aircraft if the oblique distance is always within the second determination data range within the first designated time. Configured to increase flight height.

  The third flight state adjustment unit is within the second determination data range to the first determination data range after the oblique distance is within the second determination data range within the second designated time. If it is switched to (2), the speed of the terrain following flight of the unmanned aircraft is maintained, and the height of the terrain following flight of the unmanned aircraft is controlled according to the vertical distance.

  In a preferred embodiment of the present invention, the determination data range may include a third determination data range, and the flight state adjustment submodule may include the following submodules.

  The fourth flight state adjustment unit is configured to stop the unmanned aircraft in the air and increase the height of the terrain following flight of the unmanned aircraft when the oblique distance is in the third determination data range.

  The fifth flight state adjustment unit may adjust the speed of the terrain following flight of the unmanned aircraft if the oblique distance is switched from the third determination data range to the second determination data range. The height of the terrain following flight of the unmanned aircraft is controlled according to the vertical distance.

  In a preferred embodiment of the present invention, the determination data range may include a fourth determination data range, and the flight condition adjustment submodule may include the following submodules.

  The sixth flight condition adjustment unit reduces the speed of the unmanned aircraft's terrain following flight if the oblique distance is always within the fourth determination data range within the third designated time, and also the terrain following of the unmanned aircraft. Configured to lower the height of the flight.

  The seventh flight condition adjustment unit is within the fourth determination data range to the first determination data range after the oblique distance is within the fourth determination data range within the fourth designated time. If it is switched to (2), the speed of the terrain following flight of the unmanned aircraft is maintained, and the height of the terrain following flight of the unmanned aircraft is controlled according to the vertical distance.

  In a preferred embodiment of the present invention, the determination data range may include a fifth determination data range, and the flight condition adjustment submodule may include the following submodules.

  The apparatus embodiment is described relatively simply because it is basically similar to the method embodiment, but the relevant content may be referred to the corresponding description of the method embodiment.

  The unmanned aerial vehicle described in the present invention specifically includes at least one vertically downward vertical distance sensor configured to measure a vertical distance between the unmanned aircraft and the ground, and between the unmanned aircraft and the ground. At least one obliquely downward oblique distance sensor configured to measure an oblique distance of the aircraft, and an apparatus for terrain following flight of the unmanned aircraft. The vertical distance acquisition module 301 in the apparatus acquires the vertical distance between the unmanned aircraft and the ground from the vertical distance sensor, and the oblique distance acquisition module 302 in the apparatus for terrain following flight of the unmanned aircraft is unmanned from the oblique distance sensor. Get the oblique distance between the aircraft and the ground.

  A storage medium is further provided in the present embodiment. Or in this embodiment, the said storage medium may preserve | save the program code which performs the method for the terrain following flight of the unmanned aircraft provided in embodiment mentioned above.

  Alternatively, in the present embodiment, the storage medium may be located in any computer terminal in the computer terminal group of the computer network or in the mobile terminal group.

  Alternatively, in the present embodiment, the storage medium obtains a vertical distance between the unmanned aircraft and the ground, obtains an oblique distance between the unmanned aircraft and the ground, and the vertical distance and the oblique distance. Configured to store program code for executing a step of obtaining a depression angle between and a step of adjusting a state of terrain following flight of the unmanned aircraft based on the depression angle, a vertical distance, and an oblique distance May be.

  A processor is further provided in the present embodiment. Alternatively, in the present embodiment, the processor is a program code for executing the method for terrain following flight of the unmanned aircraft provided in the above-described embodiment, and the vertical distance between the unmanned aircraft and the ground Obtaining an oblique distance between the unmanned aircraft and the ground, obtaining a depression angle between the vertical distance and the oblique distance, and determining a landform of the unmanned aircraft based on the depression angle, the vertical distance, and the oblique distance. Program code for adjusting the state of following flight may be executed.

  Each embodiment in this specification is described in an progressive manner, and each embodiment is described with emphasis on the differences from the other embodiments, and each embodiment is common or similar to each other. The parts may be referred to each other.

  It should be understood by one skilled in the art that embodiments of the present invention can be provided as a method, apparatus, or computer program product. Thus, embodiments of the present invention may use the form of a complete hardware embodiment, a complete software embodiment, or a combination of software and hardware. Embodiments of the present invention include one or more computer-usable storage media (including, but not limited to, computer-usable program code, such as magnetic disk memory, CD-ROM, optical memory, etc.) ) In the form of a computer program product to be executed.

  Embodiments of the present invention are described with reference to flowcharts and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the present invention. It is to be understood that each flow and / or block in the flowchart and / or block diagram, and combinations of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions are designated as one flow or multiple flows in a flowchart and / or one block or multiple blocks in a block diagram from instructions executed by a processor of a computer or other programmable data processing terminal device. Can be provided to a general-purpose computer, a dedicated computer, an embedded processor or a processor of another programmable data processing terminal device to generate a device so as to generate a device for realizing the function.

  These computer program instructions implement the functions specified in one or more flows in the flowchart and / or one or more blocks in the block diagram from instructions stored in a computer readable memory. It can also be stored in a computer readable memory that can cause a computer or other programmable data processing terminal to operate in a specific manner to produce a product that includes an instruction device.

  These computer program instructions are flow charts from instructions executed in a computer or other programmable terminal device by generating a process realized by the computer by executing a series of operation steps in the computer or other programmable terminal device. Implemented in a computer or other programmable data processing terminal device to provide steps for implementing a function specified in one or more flows and / or in the block diagram in the block diagram You can also.

  Although preferred embodiments of the embodiments of the present invention have been described, those skilled in the art can make other changes and modifications to these embodiments, provided they have a creative basis. Therefore, the appended claims are intended to be construed to include the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

  Finally, it should be further noted that, in the text, related terms such as first and second are only intended to make one entity or operation different from other entities or operations. It does not necessarily require or imply that such an actual relationship or order exists between operations. Also, the terms “including”, “having” and any other variations are intended to cover what is included rather than exclusively, thereby including a series of elements, processes, methods Articles or terminal devices not only include those elements, but also include other elements not explicitly listed, or elements that are unique to such processes, methods, articles or terminal devices. Including. Unless there are further restrictions, the element is limited by the sentence “contains one”, but there are other similar elements in the process, method, article or terminal device including the element. Not excluded.

  The method for the terrain following flight of the unmanned aircraft, the device for the terrain following flight of the unmanned aircraft, and the unmanned aircraft provided in the present invention have been described above in detail. Although the principles and embodiments of the present invention have been described using specific examples in the present text, the descriptions in the above embodiments are merely for assisting in understanding the method of the present invention and its gist. At the same time, a person skilled in the art can change the specific implementation method and the scope of application based on the spirit of the present invention. As described above, the contents of this specification limit the present invention. Should not be understood.

  The solution provided in the embodiment of the present invention can be applied to the terrain following flight process of an unmanned aerial vehicle, and the solution provided in the embodiment of the present invention allows the unmanned aerial vehicle to be used at different oblique distances from the ground. Can be controlled to perform different flight movements, which enables unmanned aircraft to realize terrain following flight in various environments such as mountains, hills, terraced fields, plains, high stem plants, etc. In addition to improving the operational efficiency and adaptability of the unmanned aircraft to the environment, the reliability and safety of the unmanned aircraft will be improved. Embodiments of the present invention are particularly applicable to unmanned aerial vehicles that need to maintain a certain height from the ground, such as unmanned aerial vehicles for plant protection, and that are required to adapt to work in various environments. .

Claims (15)

A method for terrain following flight of an unmanned aerial vehicle,
Obtaining the vertical distance between the unmanned aircraft and the ground;
Obtaining an oblique distance between the unmanned aerial vehicle and the ground;
Obtaining a depression angle between the vertical distance and the oblique distance;
Adjusting the state of terrain following flight of the unmanned aerial vehicle based on the depression angle, vertical distance and oblique distance. Based on the depression angle, the vertical distance and the oblique distance, the step of adjusting the terrain following flight state of the unmanned aircraft,
Calculating one or more determination data using the depression angle and the vertical distance;
Configuring one or more determination data ranges by the one or more determination data;
Adjusting the state of terrain following flight of the unmanned aircraft based on the determination data range to which the oblique distance belongs,
The method of claim 1. The determination data range includes a first determination data range,
Based on the determination data range to which the oblique distance belongs, the step of adjusting the terrain following flight state of the unmanned aircraft,
If the oblique distance is in the first determination data range, maintaining the speed of the terrain following flight of the unmanned aircraft and adjusting the height of the terrain following flight of the unmanned aircraft according to the vertical distance,
The method of claim 2. The determination data range includes a second determination data range,
Based on the determination data range to which the oblique distance belongs, the step of adjusting the terrain following flight state of the unmanned aircraft,
If the oblique distance is always within the second determination data range within the first designated time, reducing the speed of the unmanned aircraft's terrain following flight and increasing the height of the unmanned aircraft's terrain following flight;
After the oblique distance is in the second determination data range within a second specified time that is smaller than the first specified time, and within the second determination data range to the first determination data range And maintaining the speed of the terrain following flight of the unmanned aircraft, and adjusting the height of the terrain following flight of the unmanned aircraft according to the vertical distance,
The method of claim 3. The determination data range includes a third determination data range;
Based on the determination data range to which the oblique distance belongs, the step of adjusting the terrain following flight state of the unmanned aircraft,
If the oblique distance is in the third determination data range, the unmanned aircraft is stopped in the air, and the height of the terrain following flight of the unmanned aircraft is increased.
If the oblique distance is switched from the one in the third determination data range to the one in the second determination data range, the speed of the terrain following flight of the unmanned aircraft is recovered and the vertical distance is Controlling the height of the terrain following flight of the unmanned aerial vehicle,
The method of claim 4. The determination data range includes a fourth determination data range;
Based on the determination data range to which the oblique distance belongs, the step of adjusting the terrain following flight state of the unmanned aircraft,
If the oblique distance is always within the fourth determination data range within the third designated time, the speed of the terrain following flight of the unmanned aircraft is reduced, and the height of the terrain following flight of the unmanned aircraft is decreased;
After the oblique distance is in the fourth determination data range within a fourth specified time that is smaller than the third specified time, and within the fourth determination data range to the first determination data range And maintaining the speed of the terrain following flight of the unmanned aircraft, and adjusting the height of the terrain following flight of the unmanned aircraft according to the vertical distance,
The method of claim 3. The determination data range includes a fifth determination data range;
Based on the determination data range to which the oblique distance belongs, the step of adjusting the terrain following flight state of the unmanned aircraft,
If the oblique distance is in a fifth determination data range, including stopping the unmanned aircraft in the air or turning the unmanned aircraft back;
The method of claim 2. A device for terrain following flight of an unmanned aerial vehicle,
A vertical distance acquisition module configured to acquire a vertical distance between the unmanned aircraft and the ground;
An oblique distance acquisition module configured to acquire an oblique distance between the unmanned aerial vehicle and the ground;
An included angle acquisition module configured to acquire an included angle between the vertical distance and the oblique distance;
A flight condition adjustment module configured to adjust the condition of the terrain following flight of the unmanned aerial vehicle based on the depression angle, the vertical distance, and the oblique distance. The flight condition adjustment module includes:
A determination data calculation sub-module configured to calculate one or more determination data using the depression angle and the vertical distance;
A determination data range configuration sub-module configured to configure one or more determination data ranges with the one or more determination data; and
A flight state adjustment sub-module configured to adjust a state of terrain following flight of the unmanned aircraft based on a determination data range to which the oblique distance belongs,
The apparatus according to claim 8. The determination data range includes a first determination data range,
The flight condition adjustment submodule includes:
If the oblique distance is in the first determination data range, the speed of the land-following flight of the unmanned aircraft is maintained, and the height of the land-following flight of the unmanned aircraft is controlled according to the vertical distance. A first flight conditioning unit
The apparatus according to claim 8. The determination data range includes a second determination data range,
The flight condition adjustment submodule includes:
If the oblique distance is always within the second determination data range within the first designated time, the speed of the terrain following flight of the unmanned aircraft is reduced and the height of the terrain following flight of the unmanned aircraft is increased. A second flight conditioning unit to be
After the oblique distance is in the second determination data range within a second specified time that is smaller than the first specified time, and within the second determination data range to the first determination data range A third flight condition adjustment unit configured to maintain the speed of the terrain following flight of the unmanned aircraft and to maintain the height of the terrain following flight of the unmanned aircraft.
The apparatus according to claim 10. The determination data range includes a third determination data range;
The flight condition adjustment submodule includes:
A fourth flight condition adjustment unit configured to stop the unmanned aircraft in the air and increase the height of the terrain following flight of the unmanned aircraft if the oblique distance is in a third determination data range;
If the oblique distance is switched from the one in the third determination data range to the one in the second determination data range, the speed of the terrain following flight of the unmanned aircraft is recovered and the vertical distance is A fifth flight conditioning unit configured to control the height of terrain following flight of the unmanned aircraft,
The apparatus of claim 11. The determination data range includes a fourth determination data range;
The flight condition adjustment submodule includes:
If the oblique distance is always within the fourth determination data range within the third designated time, the speed of the terrain following flight of the unmanned aircraft is reduced and the height of the terrain following flight of the unmanned aircraft is reduced. A sixth flight conditioning unit to be
After the oblique distance is in the fourth determination data range within a fourth specified time that is smaller than the third specified time, and within the fourth determination data range to the first determination data range A seventh flight state adjustment configured to maintain the speed of the terrain following flight of the unmanned aircraft and to adjust the height of the terrain following flight of the unmanned aircraft according to the vertical distance. Including units,
The apparatus of claim 11. The determination data range includes a fifth determination data range;
The flight condition adjustment submodule includes:
An eighth flight condition adjustment unit configured to stop the unmanned aircraft in the air or to turn the unmanned aircraft back if the oblique distance is in a fifth determination data range;
The apparatus according to claim 9. At least one vertical downward vertical distance sensor configured to measure a vertical distance between the unmanned aerial vehicle and the ground;
At least one obliquely downward oblique distance sensor configured to measure an oblique distance between the unmanned aerial vehicle and the ground;
An apparatus for terrain following flight of an unmanned aerial vehicle according to any one of claims 8 to 14,
An unmanned aircraft equipped with.

Images